/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <https://github.com/raulmur/ORB_SLAM2>
*
* ORB-SLAM2 is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM2 is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
*/

#include "MapDrawer.h"
#include "MapPoint.h"
#include "KeyFrame.h"
//#include <pangolin/pangolin.h>
#include <mutex>

namespace ORB_SLAM2
{


MapDrawer::MapDrawer(Map* pMap, const string &strSettingPath):mpMap(pMap)
{
//    cv::FileStorage fSettings(strSettingPath, cv::FileStorage::READ);
//
//    mKeyFrameSize = fSettings["Viewer.KeyFrameSize"];
//    mKeyFrameLineWidth = fSettings["Viewer.KeyFrameLineWidth"];
//    mGraphLineWidth = fSettings["Viewer.GraphLineWidth"];
//    mPointSize = fSettings["Viewer.PointSize"];
//    mCameraSize = fSettings["Viewer.CameraSize"];
//    mCameraLineWidth = fSettings["Viewer.CameraLineWidth"];

}

void MapDrawer::DrawMapPoints()
{
//    const vector<MapPoint*> &vpMPs = mpMap->GetAllMapPoints();
//    const vector<MapPoint*> &vpRefMPs = mpMap->GetReferenceMapPoints();
//
//    set<MapPoint*> spRefMPs(vpRefMPs.begin(), vpRefMPs.end());
//
//    if(vpMPs.empty())
//        return;
//
//    glPointSize(mPointSize);
//    glBegin(GL_POINTS);
//    glColor3f(0.0,0.0,0.0);
//
//    for(size_t i=0, iend=vpMPs.size(); i<iend;i++)
//    {
//        if(vpMPs[i]->isBad() || spRefMPs.count(vpMPs[i]))
//            continue;
//        cv::Mat pos = vpMPs[i]->GetWorldPos();
//        glVertex3f(pos.at<float>(0),pos.at<float>(1),pos.at<float>(2));
//    }
//    glEnd();
//
//    glPointSize(mPointSize);
//    glBegin(GL_POINTS);
//    glColor3f(1.0,0.0,0.0);
//
//    for(set<MapPoint*>::iterator sit=spRefMPs.begin(), send=spRefMPs.end(); sit!=send; sit++)
//    {
//        if((*sit)->isBad())
//            continue;
//        cv::Mat pos = (*sit)->GetWorldPos();
//        glVertex3f(pos.at<float>(0),pos.at<float>(1),pos.at<float>(2));
//
//    }
//
//    glEnd();
}

void MapDrawer::DrawKeyFrames(const bool bDrawKF, const bool bDrawGraph)
{
//    const float &w = mKeyFrameSize;
//    const float h = w*0.75;
//    const float z = w*0.6;
//
//    const vector<KeyFrame*> vpKFs = mpMap->GetAllKeyFrames();
//
//    if(bDrawKF)
//    {
//        for(size_t i=0; i<vpKFs.size(); i++)
//        {
//            KeyFrame* pKF = vpKFs[i];
//            cv::Mat Twc = pKF->GetPoseInverse().t();
//
//            glPushMatrix();
//
//            glMultMatrixf(Twc.ptr<GLfloat>(0));
//
//            glLineWidth(mKeyFrameLineWidth);
//            glColor3f(0.0f,0.0f,1.0f);
//            glBegin(GL_LINES);
//            glVertex3f(0,0,0);
//            glVertex3f(w,h,z);
//            glVertex3f(0,0,0);
//            glVertex3f(w,-h,z);
//            glVertex3f(0,0,0);
//            glVertex3f(-w,-h,z);
//            glVertex3f(0,0,0);
//            glVertex3f(-w,h,z);
//
//            glVertex3f(w,h,z);
//            glVertex3f(w,-h,z);
//
//            glVertex3f(-w,h,z);
//            glVertex3f(-w,-h,z);
//
//            glVertex3f(-w,h,z);
//            glVertex3f(w,h,z);
//
//            glVertex3f(-w,-h,z);
//            glVertex3f(w,-h,z);
//            glEnd();
//
//            glPopMatrix();
//        }
//    }
//
//    if(bDrawGraph)
//    {
//        glLineWidth(mGraphLineWidth);
//        glColor4f(0.0f,1.0f,0.0f,0.6f);
//        glBegin(GL_LINES);
//
//        for(size_t i=0; i<vpKFs.size(); i++)
//        {
//            // Covisibility Graph
//            const vector<KeyFrame*> vCovKFs = vpKFs[i]->GetCovisiblesByWeight(100);
//            cv::Mat Ow = vpKFs[i]->GetCameraCenter();
//            if(!vCovKFs.empty())
//            {
//                for(vector<KeyFrame*>::const_iterator vit=vCovKFs.begin(), vend=vCovKFs.end(); vit!=vend; vit++)
//                {
//                    if((*vit)->mnId<vpKFs[i]->mnId)
//                        continue;
//                    cv::Mat Ow2 = (*vit)->GetCameraCenter();
//                    glVertex3f(Ow.at<float>(0),Ow.at<float>(1),Ow.at<float>(2));
//                    glVertex3f(Ow2.at<float>(0),Ow2.at<float>(1),Ow2.at<float>(2));
//                }
//            }
//
//            // Spanning tree
//            KeyFrame* pParent = vpKFs[i]->GetParent();
//            if(pParent)
//            {
//                cv::Mat Owp = pParent->GetCameraCenter();
//                glVertex3f(Ow.at<float>(0),Ow.at<float>(1),Ow.at<float>(2));
//                glVertex3f(Owp.at<float>(0),Owp.at<float>(1),Owp.at<float>(2));
//            }
//
//            // Loops
//            set<KeyFrame*> sLoopKFs = vpKFs[i]->GetLoopEdges();
//            for(set<KeyFrame*>::iterator sit=sLoopKFs.begin(), send=sLoopKFs.end(); sit!=send; sit++)
//            {
//                if((*sit)->mnId<vpKFs[i]->mnId)
//                    continue;
//                cv::Mat Owl = (*sit)->GetCameraCenter();
//                glVertex3f(Ow.at<float>(0),Ow.at<float>(1),Ow.at<float>(2));
//                glVertex3f(Owl.at<float>(0),Owl.at<float>(1),Owl.at<float>(2));
//            }
//        }
//
//        glEnd();
//    }
}

//void MapDrawer::DrawCurrentCamera(pangolin::OpenGlMatrix &Twc)
//{
//    const float &w = mCameraSize;
//    const float h = w*0.75;
//    const float z = w*0.6;
//
//    glPushMatrix();
//
//#ifdef HAVE_GLES
//        glMultMatrixf(Twc.m);
//#else
//        glMultMatrixd(Twc.m);
//#endif
//
//    glLineWidth(mCameraLineWidth);
//    glColor3f(0.0f,1.0f,0.0f);
//    glBegin(GL_LINES);
//    glVertex3f(0,0,0);
//    glVertex3f(w,h,z);
//    glVertex3f(0,0,0);
//    glVertex3f(w,-h,z);
//    glVertex3f(0,0,0);
//    glVertex3f(-w,-h,z);
//    glVertex3f(0,0,0);
//    glVertex3f(-w,h,z);
//
//    glVertex3f(w,h,z);
//    glVertex3f(w,-h,z);
//
//    glVertex3f(-w,h,z);
//    glVertex3f(-w,-h,z);
//
//    glVertex3f(-w,h,z);
//    glVertex3f(w,h,z);
//
//    glVertex3f(-w,-h,z);
//    glVertex3f(w,-h,z);
//    glEnd();
//
//    glPopMatrix();
//}


void MapDrawer::SetCurrentCameraPose(const cv::Mat &Tcw)
{
//    unique_lock<mutex> lock(mMutexCamera);
//    mCameraPose = Tcw.clone();
}

//void MapDrawer::GetCurrentOpenGLCameraMatrix(pangolin::OpenGlMatrix &M)
//{
//    if(!mCameraPose.empty())
//    {
//        cv::Mat Rwc(3,3,CV_32F);
//        cv::Mat twc(3,1,CV_32F);
//        {
//            unique_lock<mutex> lock(mMutexCamera);
//            Rwc = mCameraPose.rowRange(0,3).colRange(0,3).t();
//            twc = -Rwc*mCameraPose.rowRange(0,3).col(3);
//        }
//
//        M.m[0] = Rwc.at<float>(0,0);
//        M.m[1] = Rwc.at<float>(1,0);
//        M.m[2] = Rwc.at<float>(2,0);
//        M.m[3]  = 0.0;
//
//        M.m[4] = Rwc.at<float>(0,1);
//        M.m[5] = Rwc.at<float>(1,1);
//        M.m[6] = Rwc.at<float>(2,1);
//        M.m[7]  = 0.0;
//
//        M.m[8] = Rwc.at<float>(0,2);
//        M.m[9] = Rwc.at<float>(1,2);
//        M.m[10] = Rwc.at<float>(2,2);
//        M.m[11]  = 0.0;
//
//        M.m[12] = twc.at<float>(0);
//        M.m[13] = twc.at<float>(1);
//        M.m[14] = twc.at<float>(2);
//        M.m[15]  = 1.0;
//    }
//    else
//        M.SetIdentity();
//}

} //namespace ORB_SLAM
